阅读说明：本技术 具有传送驱动机的驱动状态的数据传送机构的装置 (Device with data transmission mechanism for transmitting driving state of driving machine ) 是由 水泽一泰 曾根裕二 于 2020-01-03 设计创作，主要内容包括：本发明涉及具有传送驱动机的驱动状态的数据传送机构的装置。机床具有相互独立的3个以上的数据传送机构。各数据传送机构包含：发送部,其对从传感器的输出中取得的数据赋予检测错误的标记并进行发送。控制装置包含：运转判定部,其判定是否继续进给轴电动机的运转。在数据与标记的相关性符合规则的数据是2个以上,且2个以上的数据在预先设定的判定范围内时运转判定部判定为继续运转。运转判定部在上述相关性符合规则的至少一个数据脱离判定范围时判定为停止进给轴电动机。(The present invention relates to a device having a data transmission mechanism for transmitting a driving state of a driving machine. The machine tool has more than 3 independent data transmission mechanisms. Each data transfer mechanism includes: and a transmitting unit that transmits data acquired from the output of the sensor while applying a flag indicating a detection error. The control device includes: and an operation determination unit that determines whether or not to continue operation of the feed shaft motor. The operation determination unit determines to continue the operation when the number of data whose correlation with the flag satisfies the rule is 2 or more and the 2 or more data are within a predetermined determination range. The operation determination unit determines to stop the feed shaft motor when at least one data whose correlation satisfies the rule is out of a determination range.)

1. An apparatus, comprising:

3 or more independent data transmission means for transmitting a driving state of a driver for driving a component of the apparatus; and

a control device that controls driving of the driving machine,

each data transfer mechanism includes: a sensor that acquires a variable relating to a driving state of the driver; a transmission unit that transmits data acquired from the output of the sensor while applying a flag indicating a detection error to the data; and a receiving unit that receives data to which a flag indicating a detection error is given,

the control device includes: a data determination unit that determines whether or not a correlation between the data and the error detection flag in the data transmitted by the data transmission unit satisfies a predetermined rule; and an operation determination unit that performs operation determination control for determining whether or not to continue the operation of the drive machine, based on a determination result of the data determination unit,

the operation determination control includes: control for determining to continue the operation when there is data whose correlation with the error detection flag does not meet the rule, and when the correlation with the error detection flag meets the rule, the number of data is 2 or more, and all the data of 2 or more is within a predetermined determination range; and determining to stop the control of the drive machine when at least one of the data whose correlation with the flag of the detection error meets the rule is out of a determination range.

2. The apparatus of claim 1,

the transmitting unit transmits data by giving a correction flag for detecting an error and correcting the error,

the data determination unit includes: a correction unit that corrects data based on the correction flag when the correlation between the data and the correction flag does not satisfy the rule,

the data determination unit determines whether or not the data is completely corrected by the correction unit, and the operation determination unit performs the operation determination control when the data is not completely corrected by the correction unit.

3. The device according to claim 1 or 2,

the drive machine is an electric motor which moves the structural parts of the device,

the sensor detects a variable related to the rotational speed of the motor.

Technical Field

The present invention relates to a device having a data transmission mechanism for transmitting a driving state of a driving machine.

Background

In the related art, it is known that when communication data such as an output value of a sensor is transmitted from 1 device to another device, a part of the data may be damaged due to an influence of noise or the like. For example, information of a part of bits included in communication data sometimes disappears. Therefore, it is known that a circuit for transmitting data performs control for determining whether or not received communication data is correct. In this control, a flag associated with the communication data is given to the communication data and the communication data is transmitted. It is known to determine whether or not the association between data and a flag satisfies a predetermined rule when communication data is received (see, for example, japanese patent application laid-open No. 8-320713). If the correlation between the communication data and the marker does not meet a predetermined rule, it can be determined that at least a part of the communication data or the marker is broken.

Further, conventionally, a flag having a function of correcting communication data when it is determined that the communication data is erroneous is known. It is known to assign such tags to communication data and to transmit the communication data. When the communication data is erroneous, the communication data can be repaired based on the flag.

However, a circuit for transmitting an important signal exists in a circuit for transmitting data. For example, data of the control device is sometimes transmitted as communication data in order to ensure safety of the operator. When such important data is transmitted, it is known to configure a plurality of circuits that transmit the same data. That is, it is known to multiplex a circuit for transmitting data (see, for example, japanese patent application laid-open No. 2007-26010).

Disclosure of Invention

By forming a circuit for transmitting a plurality of data in the device, even if data cannot be accurately transmitted by one circuit for transmitting data, correct data can be transmitted by a circuit for transmitting other data. For example, when a driver that drives a component of the apparatus is abnormal, the abnormality of the driver may not be transmitted due to a failure of one circuit. At this time, the abnormality of the drive machine is transmitted by another circuit, whereby the drive machine can be stopped.

In a device in which circuits for transmitting data are multiplexed, data to which a flag for detecting or correcting an error in the data is added may be transmitted. In the conventional technique, when a plurality of circuits for transmitting data are provided, control of the stop device is performed when data out of a desired determination range is received by at least one circuit. That is, the control of the stop means is performed when at least 1 data indicates an abnormal value, regardless of whether the correlation between the flag given to the data and the data conforms to the rule.

However, in a data transmission path, a data value may change due to an influence of noise or the like. In some cases, a device to be monitored, such as a drive, is not in an abnormal state, but data is broken in a data transmission path. For example, when the output of the sensor is transmitted through the communication line, the data may have an erroneous value due to the influence of noise or the like. In this case, even if the driving state of the driving machine is normal, it is determined that the driving state of the driving machine is abnormal and the apparatus is stopped. As a result, there is a problem that the operation rate of the apparatus is lowered.

An aspect of the present disclosure provides an apparatus having: 3 or more independent data transmission means for transmitting a driving state of a driver for driving a component of the apparatus; and a control device that controls driving of the driver. Each data transfer mechanism includes: a sensor that acquires a variable relating to a driving state of the driving machine; a transmission unit that transmits data acquired from the output of the sensor while applying a flag indicating a detection error to the data; and a receiving unit that receives data to which a flag indicating a detection error is given. The control device includes: and a data determination unit that determines whether or not the correlation between the data and the error detection flag in the data transmitted by the data transmission unit satisfies a predetermined rule. The control device includes: and an operation determination unit that performs operation determination control for determining whether or not to continue the operation of the drive machine, based on the determination result of the data determination unit. The operation determination control includes the following controls: when data exists, the correlation between the data and the error detection mark does not meet the rule, and when the correlation between the data and the error detection mark meets the rule, the number of the data is more than 2, and all the data of more than 2 is in a preset judgment range, the operation is judged to be continued. The operation determination control includes the following controls: it is determined to stop the control of the drive machine when at least one of the data whose correlation with the flag of the detection error meets the rule is out of the determination range.

Drawings

Fig. 1 is a block diagram of a machine tool in an embodiment.

Fig. 2 is a schematic diagram illustrating a data transfer mechanism according to the embodiment.

Fig. 3 is another schematic diagram for explaining the data transfer mechanism in the embodiment.

Fig. 4 is a flowchart of operation determination control in the embodiment.

Fig. 5 is a block diagram of another data determination unit in the embodiment.

Fig. 6 is a schematic diagram illustrating another data transfer mechanism according to the embodiment.

Detailed Description

The apparatus according to the embodiment will be described with reference to fig. 1 to 6. In the present embodiment, a machine tool is described as an example of the apparatus. The apparatus of the present embodiment has a data transmission mechanism for transmitting a driving state of the driving machine.

Fig. 1 is a block diagram of a machine tool according to the present embodiment. The machine tool 1 machines a workpiece while changing the relative position of a tool with respect to the workpiece. The machine tool 1 has a feed axis that changes the relative position of a tool with respect to a workpiece. For example, the feed shaft is constituted by 3 linear shafts (X-axis, Y-axis, and Z-axis). The feed axis of the machine tool 1 is not limited to this form, and may be constituted by any linear motion axis or rotation axis.

The machine tool 1 includes a moving device 5 that moves at least one of a workpiece and a tool along a feed axis. The moving device 5 includes feed shaft motors 12 arranged corresponding to the respective feed shafts. The machine tool 1 includes a spindle head 4 that holds a tool and rotates the tool. The spindle head 4 includes a spindle for supporting a tool and a spindle motor 11 for rotating the spindle.

The machine tool 1 includes a machine control device 2 as a control device for controlling the feed axis motor 12 and the spindle motor 11. The machine control device 2 of the present embodiment is configured by an arithmetic Processing device (computer) including a CPU (Central Processing Unit) as a processor. The machine control device 2 includes a RAM (Random Access Memory) and a ROM (Read Only Memory) connected to the CPU via a bus.

The machine tool 1 of the present embodiment is of a numerical control type. The machining program 7 for operating the machine tool 1 is generated in advance by an operator. The machine control device 2 includes: a storage unit 21 for storing information relating to machining such as the machining program 7 and the determination range; and a command generation unit 22 that generates an operation command of the motor based on the machining program 7. The storage unit 21 may be configured by a storage medium capable of storing information, such as a volatile memory, a nonvolatile memory, or a hard disk. The command generating unit 22 corresponds to a processor driven in accordance with the machining program 7. The command generating unit 22 is formed to be able to read information stored in the storage unit 21. The processor functions as the command generating unit 22 by reading the machining program 7 and performing the control specified by the machining program 7.

The machine tool 1 includes: the motor drive device 3 has an electric circuit for supplying power to the feed shaft motor 12 and the spindle motor 11. The motor drive device 3 supplies power to the feed shaft motor 12 and the spindle motor 11 in accordance with the operation command generated by the command generation unit 22. The feed shaft motor 12 and the spindle motor 11 are driven by power supplied from the motor drive device 3.

Fig. 2 shows a schematic diagram of a data transfer mechanism in the present embodiment. In the example shown in fig. 2, the electric motor 31 is shown as a driving machine that drives the component parts of the apparatus. Referring to fig. 1 and 2, the motor 31 is, for example, the feed shaft motor 12 of the moving device 5. The feed shaft motor 12 is, for example, a motor that moves a table on which a workpiece is fixed, or a motor that moves a member on which the spindle head 4 is fixed. In the present embodiment, a motor for moving the table is taken as an example for description.

The driving machine as a component of the driving device is not limited to the motor, and any machine that moves or rotates a component of the device may be used. For example, as the driving machine, an actuator cylinder driven by air pressure or hydraulic pressure may be exemplified in addition to the electric motor.

The machine tool 1 of the present embodiment includes a sensor that acquires a variable relating to the driving state of the driving machine. In the example here, a 1 st sensor 32a, a 2 nd sensor 32b, and a 3 rd sensor 32c for detecting variables relating to the rotation speed of the motor 31 are arranged. The driving state of the driver is determined based on the output values of the plurality of sensors 32a, 32b, and 32 c.

In order to detect variables related to the driving state of the drive machine, sensors of different kinds from each other may be arranged. In the present embodiment, each of the sensors 32a, 32b, and 32c acquires a variable related to the rotation speed of the motor 31. As the sensor, for example, an encoder attached to a rotating shaft of a motor and detecting the number of rotations of the rotating shaft can be used. Further, a linear scale arranged along a rail for moving the table to detect the position of the table, a non-contact sensor for detecting the position of the table by light, or the like may be used.

Alternatively, the 1 st sensor 32a, the 2 nd sensor 32b, and the 3 rd sensor 32c may be the same type of sensor. For example, 3 encoders for detecting the rotation speed of the motor 31 may be attached to the rotating shaft of the motor 31. The sensors 32a, 32b, and 32c can acquire variables related to the rotational speed of the motor 31 independently of each other. The rotation speed of the motor 31 can be calculated from the acquired value.

The driving state of the driver is not limited to the rotational speed, and any driving state such as temperature, pressure, magnitude of vibration, and magnitude of torque or sound may be adopted. As the sensor for acquiring the variable relating to the driving state of the driving machine, any sensor capable of detecting the driving state of the driving machine may be used. As the sensor, in addition to the position detector such as the encoder and the linear scale, a temperature sensor for detecting the temperature of a predetermined portion of the driving machine can be exemplified. Examples of the sensor include a pressure sensor for detecting a pressure when the driving machine is driven by a hydraulic pressure or an air pressure, a vibration sensor for detecting a vibration when the driving machine is driven, a torque sensor for detecting a torque output from the driving machine, and a sound volume sensor for detecting an abnormal sound generated by the driving machine.

The machine tool 1 of the present embodiment has 3 or more independent data transmission mechanisms. The plurality of data transfer mechanisms transfer communication data independently of each other. In the example shown in fig. 2, a 1 st data transfer mechanism 30a, a 2 nd data transfer mechanism 30b, and a 3 rd data transfer mechanism 30c are arranged. Each data transfer mechanism includes: a sensor that acquires a variable relating to a rotational speed of the motor; a transmission processor as a transmission unit that transmits data acquired based on the output of the sensor; and a reception processor as a reception section that receives the data transmitted by the transmission processor. The 1 st data transfer mechanism 30a includes: a 1 st sensor 32a, a 1 st transmit processor 33a, and a 1 st receive processor 34 a. The 2 nd data transfer mechanism 30b includes: a 2 nd sensor 32b, a 2 nd transmitting processor 33b, a 2 nd receiving processor 34 b. The 3 rd data transfer mechanism 30c includes: a 3 rd sensor 32c, a 3 rd transmitting processor 33c, a 3 rd receiving processor 34 c.

Each of the transmission processors 33a, 33b, and 33c may have a function of converting the output of each sensor into a predetermined variable. For example, the apparatus may have a function of converting a signal of a position obtained by a linear scale for detecting the position of the table into the rotation speed of the motor. In the example here, the transmission processors 33a, 33b, and 33c acquire the rotation speed of the motor 31 from the outputs of the sensors 32a, 32b, and 32c, and transmit the rotation speed of the motor 31 as data.

The transmission processors 33a, 33b, and 33c transmit data acquired from the outputs of the sensors 32a, 32b, and 32c with a flag indicating a detection error. For example, the transmission processors 33a, 33b, and 33c assign CRC (Cyclic redundancy check) flags or error detection flags for determining whether data such as parity bits have errors.

The respective reception processors 34a, 34b, and 34c receive data generated by the transmission processors 33a, 33b, and 33c and to which an error detection flag for detecting an error is given. The 1 st reception processor 34a is connected to the 1 st transmission processor 33a through a communication line. Further, the 2 nd reception processor 34b is connected to the 2 nd transmission processor 33b through a communication line. The 3 rd reception processor 34c is connected to the 3 rd transmission processor 33c through a communication line. In the present embodiment, the receiving unit is connected to the transmitting unit via the communication line, but the present invention is not limited to this embodiment. The transmission unit and the reception unit may communicate wirelessly.

As described above, the data transfer mechanism of the present embodiment is configured with one path before the variable based on the output of one sensor reaches the reception processor. In each data transfer mechanism, data is transferred from the sensor to the receiving processor through independent paths. Further, 3 or more data transfer means for transmitting data relating to one driving state are arranged.

The transmitting unit and the receiving unit in the present embodiment include processors. The processor functions as a transmission unit by being driven according to the machining program. The processor functions as a receiving unit by being driven according to the machining program. The transmission unit and the reception unit are not limited to this embodiment. The transmission unit may be any device capable of giving a flag indicating a detection error to data. The receiving unit may have a function of receiving data to which a flag for detecting an error is added. For example, the transmission unit and the reception unit may be formed of an integrated circuit such as an ASIC (Application Specific integrated circuit).

In the machine tool having the data transfer mechanism shown in fig. 2, the transmission processors 33a, 33b, and 33c as the transmission units are disposed on the 1 st printed circuit board 41 alone. The 1 st printed board 41 is disposed in the vicinity of the 1 st sensor 32a, the 2 nd sensor 32b, and the 3 rd sensor 32c, for example. The reception processors 34a, 34b, and 34c as the reception units are disposed on the 2 nd printed circuit board 42 alone. The 2 nd printed circuit board 42 is disposed inside the machine control device 2, for example.

The error detection flag is formed to have an association with data. Each of the transmission processors 33a, 33b, and 33c generates an error detection flag according to a predetermined rule based on data to be transmitted. In the example shown in fig. 2, "0 x 1234" is transmitted as data from the transmission processors 33a, 33b, and 33c in the data transfer mechanisms 30a, 30b, and 30 c. In the example here, data representing the rotational speed of the electric motor is transmitted, for example. Further, "0 x 56" is given to the data as an error detection flag, and the data is transmitted. When the driving state of the motor 31 is normal, the data transmitted from the transmission processors 33a, 33b, and 33c are the same value or values very close to each other.

The machine control device 2 in the present embodiment includes: and a data determination unit 24 for determining whether or not an error exists in the data transmitted by the data transmission mechanisms 30a, 30b, and 30 c. The data determination unit 24 determines whether or not the data transmitted from the transmission processors 33a, 33b, and 33c is damaged due to the influence of noise or the like. The data determination unit 24 includes: and a comparison unit 25 for determining whether or not the correlation between the data and the error detection flag satisfies a predetermined rule. When the correlation between the data and the error detection flag does not meet a predetermined rule, the comparison unit 25 determines that the data is an error.

In the present embodiment, the reception unit functions as the data determination unit 24 and the comparison unit 25. The reception processors 34a, 34b, and 34c function as the data determination unit 24. In particular, the reception processors 34a, 34b, and 34c function as the comparison unit 25 of the data determination unit 24. The reception processors 34a, 34b, and 34c function as the data determination unit 24 and the comparison unit 25 by being driven according to the machining program 7. The data determination unit and the comparison unit are not limited to this embodiment. In addition to a processor that receives data, a processor or an integrated circuit that has a function of determining data may be configured.

In the example shown in fig. 2, the data to which the error detection flag is given, which is transmitted from the 1 st transmitting processor 33a, is the same as the data to which the error detection flag is given, which is received by the 1 st receiving processor 34 a. The 1 st reception processor 34a determines that the correlation of the received data with the error detection flag conforms to the rule. It can be determined that the data is not damaged by the influence of noise or the like in the transmission path from the 1 st transmitting processor 33a to the 1 st receiving processor 34 a. In the 2 nd reception processor 34b, the correlation between the data and the error detection flag is in accordance with the rule, and it is also determined that the data has no error.

On the other hand, the data transmitted from the 3 rd transmission processor 33c is broken in the transmission path from the 3 rd transmission processor 33c to the 3 rd reception processor 34 c. For example, a part of the data is broken due to the influence of noise. The 3 rd reception processor 34c receives data "0 x 1534" different from data "0 x 1234" transmitted by the 3 rd transmission processor 33 c. The 3 rd reception processor 34c functioning as the comparison unit 25 compares the data with the error detection flag, and determines that the correlation between the data and the error detection flag does not meet a predetermined rule. The 3 rd reception processor 34c determines that the data has an error.

The reception processors 34a, 34b, and 34c as the data determination unit 24 have a function of determining whether or not the data is within a predetermined determination range. When the correlation between the data and the error detection flag satisfies the rule, the reception processors 34a, 34b, and 34c determine whether or not the data is within a predetermined determination range. In the example herein, the reception processors 34a, 34b, 34c determine whether the rotation speed of the motor 31 is within a predetermined determination range of the rotation speed. The 1 st reception processor 34a and the 2 nd reception processor 34b determine that the data is within the determination range. The data determination range is stored in the storage unit 21. The operation determination unit 23 may perform control for determining whether or not the data is within the determination range.

The machine control device 2 includes: and an operation determination unit 23 that performs operation determination control for determining whether or not to continue the operation of the drive machine, based on the determination result of the data determination unit 24. In the present embodiment, the 1 st reception processor 34a as the reception unit functions as the operation determination unit 23. The 1 st reception processor 34a functions as the operation determination unit 23 by being driven in accordance with the machining program 7. The operation determination unit is not limited to this embodiment. A processor, an integrated circuit, or the like that determines whether or not to continue the operation of the drive may be disposed separately from the reception processor.

The 1 st reception processor 34a as the operation determination section 23 receives the determination result of whether the correlation between the data and the error detection flag satisfies the rule and the determination result of whether the data is within the determination range from the 2 nd reception processor 34b and the 3 rd reception processor 34 c.

In the example shown in fig. 2, information that the correlation of the data with the error detection flag does not comply with the rule is contained in the output from the 3 rd reception processor 34 c. At this time, the 1 st reception processor 34a performs control not using the information received from the 3 rd reception processor 34 c. The 1 st receiving processor 34a determines that the operation is to be continued when there is data whose correlation with the error detection flag does not meet the rule, and when there are 2 or more data whose correlation with the error detection flag does meet the rule and all of the 2 or more data are within a predetermined determination range. In the example here, with respect to 2 pieces of data received by the 1 st receiving processor 34a and the 2 nd receiving processor 34b, the correlation of the data with the error detection flag conforms to the rule, and the data is within the determination range. Therefore, the 1 st reception processor 34a determines to continue the operation of the motor 31.

The 1 st reception processor 34a functioning as the operation determination unit 23 transmits a command to continue the current operation state to the command generation unit 22. The command generation unit 22 continues the operation of the machine tool 1 according to the machining program 7.

Fig. 3 shows another schematic diagram of the data transfer mechanism in the present embodiment. In the example shown in fig. 3, with respect to the data received by the 1 st receiving processor 34a and the 2 nd receiving processor 34b, the association of the data with the error detection flag conforms to the rule, and the data is within the determination range. On the other hand, with respect to the data to which the error detection flag is given, which is received by the 3 rd receiving processor 34c, the correlation between the data and the error detection flag conforms to the rule. However, the data (rotational speed) calculated from the variable acquired by the 3 rd sensor 32c deviates from the determination range. Further, no abnormality is generated in the 3 rd data transfer mechanism 30 c. In this case, the data to which the error detection flag is given, which is transmitted by the 3 rd transmission processor 33c, is equal to the data to which the error detection flag is given, which is received by the 3 rd reception processor 34 c. The 3 rd reception processor 34c determines that the received data has no error. The 3 rd reception processor 34c determines that the data is out of the determination range.

The 1 st reception processor 34a serving as the operation determination unit 23 receives the determination results of the 2 nd reception processor 34b and the 3 rd reception processor 34c serving as the data determination unit 24. The 1 st reception processor 34a determines to stop the motor 31 when at least one of the data whose correlation with the error detection flag satisfies the rule is out of the determination range. In the example shown in fig. 3, each data transmitted by 2 data transmission mechanisms 30a, 30b is within the determination range. On the other hand, since the data transmitted by 1 data transmission means 30c is out of the determination range, the 1 st reception processor 34a determines that the abnormality of the data transmission means 30a, 30b, 30c does not occur and the abnormality occurs in the motor 31. The 1 st reception processor 34a sends a command to stop the motor 31 to the command generation section 22. The command generating unit 22 transmits a command to stop the feed shaft motor 12 to be the target, and stops the feed shaft motor 12. Alternatively, the command generating unit 22 stops the spindle motor 11 and all the feed axis motors 12 disposed in the machine tool 1. That is, the machine tool 1 is stopped.

As described above, in the operation determination control in the present embodiment, even if it is determined that there is an error in data in some of the data transfer mechanisms, as long as there is no error in data received by 2 or more data transfer mechanisms and the data is within the determination range, it is determined that the driving state of the motor 31 is normal. It is determined that an abnormality has occurred in a part of the data transfer mechanisms, and the operation of the drive machine is continued.

In the conventional technique, control for stopping the drive machine may be performed when at least 1 data is out of the determination range, regardless of whether or not the correlation between the data and the error detection flag satisfies the rule. Therefore, when an abnormality occurs in a part of the data transfer mechanisms, the drive machine may be stopped. In contrast, in the present embodiment, it can be determined that an abnormality has occurred in some of the plurality of data transfer mechanisms. As a result, the operation of the drive machine can be continued, and the decrease in the drive machine operation rate can be suppressed.

In the operation determination control according to the present embodiment, the data received by the plurality of data transfer means is normally set as the condition for continuing the operation, and therefore it can be reliably determined that the driving state of the driving machine is normal. In the determination by the operation determination unit, when the association between the data and the error detection flag in a part of the data transfer means does not meet the rule, the operation can be continued as long as the data received by 1 data transfer means is normal.

On the other hand, in the operation determination control of the present embodiment, the driving machine is stopped when the association between the data and the error detection flag satisfies the rule and the data deviates from the determination range, among at least 1 piece of data. The data can be determined to be error free. Thus, when there is a possibility of an abnormality of the drive machine, the drive machine can be stopped.

The operation determination control described above may be performed each time the rotation speed of the motor is acquired based on the output of each sensor. In the present embodiment, 3 data transfer means 30a, 30b, and 30c are arranged, but the present invention is not limited to this embodiment, and 4 or more data transfer means may be arranged. In this case, the operation determination control may be implemented. For example, when 4 data transfer means are arranged, if the association between the data transferred by 2 data transfer means and the error detection flag does not meet the rule, the data transferred by the other 2 data transfer means meets the correlation of the flag, and the operation can be continued even when the data is within the determination range.

Fig. 4 shows a flowchart of control in the present embodiment. The control shown in fig. 4 may be repeatedly performed at predetermined time intervals.

Referring to fig. 2 to 4, in step 71, the sensors 32a, 32b, and 32c detect variables relating to the rotation speed of the motor 31. The transmission processors 33a, 33b, and 33c acquire the rotational speed as data using the outputs of the sensors 32a, 32b, and 32 c. In step 72, the sending processor 33a, 33b, 33c assigns an error detection flag to the data. In step 73, the transmission processors 33a, 33b, and 33c transmit the data to which the error detection flag is given.

In step 74, the respective receiving processors 34a, 34b, and 34c receive the data to which the error detection flag is given. In step 75, each of the receiving processors 34a, 34b, and 34c determines whether the association between the data and the error detection flag satisfies a predetermined rule. In addition, each of the reception processors 34a, 34b, and 34c determines whether or not the data is within the determination range. Then, the 2 nd reception processor 34b and the 3 rd reception processor 34c transmit the determination result to the 1 st reception processor 34 a.

In step 76, the 1 st receiving processor 34a determines whether there is data whose correlation with the error detection flag does not comply with the rule. In step 76, when the correlation between the data and the error detection flag conforms to the rule for all data, the control proceeds to step 77.

In step 77, the 1 st reception processor 34a determines whether or not there is data out of the determination range among the plurality of data. In step 77, if there are 1 data items out of the determination range, the control also proceeds to step 78. In step 78, the 1 st reception processor 34a determines to stop the machine tool 1. The 1 st reception processor 34a transmits a command to stop the machine tool 1 to the command generation unit 22, thereby stopping the machine tool 1.

If, in step 77, there is no data outside the determination range, the control proceeds to step 82. In step 82, the 1 st reception processor 34a determines that the operation is to be continued. The 1 st reception processor 34a transmits a command to continue the operation to the command generating unit 22. The command generating unit 22 continues the operation of the machine tool 1 based on the machining program 7.

In step 76, when there is data whose association with the error detection flag does not comply with the rule, control proceeds to step 79. In step 79, the 1 st receiving processor 34a determines whether or not there are 2 or more data whose correlation with the error detection flag satisfies the rule. In step 79, when there are less than 2 data whose correlation with the error detection flag satisfies the rule, the control proceeds to step 80. In step 80, the 1 st receiving processor 34a stops the machine tool 1 as in step 78.

In step 79, when the number of data whose correlation with the error detection flag satisfies the rule is 2 or more, the control proceeds to step 81. In step 81, the 1 st reception processor 34a determines whether or not there is data out of the determination range among the data whose correlation with the error detection flag conforms to the rule. If data outside the determination range exists in step 81, the control proceeds to step 80. The 1 st reception processor 34a stops the machine tool 1.

If, at step 81, there is no data out of the determination range among the data whose correlation with the error detection flag satisfies the rule, the control proceeds to step 82. In this case, the 1 st reception processor 34a may determine that the driving state of the motor 31 is normal and that some of the data transfer mechanisms are abnormal. In step 82, the 1 st reception processor 34a determines that the operation is to be continued, and transmits the determination result to the command generating unit 22. The command generation unit 22 continues the operation of the machine tool 1 according to the machining program 7. When the operation determination unit 23 determines that the driving state of the motor 31 is normal and that some of the data transfer mechanisms are abnormal, information of the abnormality of some of the data transfer mechanisms may be displayed on a display unit such as a display panel.

In the control of the present embodiment, when the driving state of the driving machine is normal and the data transfer mechanism is abnormal, the operation stop of the driving machine or the apparatus having the driving machine can be suppressed. As a result, the reduction in the operating rate of the drive machine or the apparatus having the drive machine can be suppressed.

In the above embodiment, the transmission processors 33a, 33b, and 33c as the transmission units are provided with error detection marks for detecting errors in data, but the present invention is not limited to this embodiment. The transmission processors 33a, 33b, 33c may give correction marks for detecting errors of data and correcting the errors and transmit the data. As the correction flag, ECC (Error correction code) or hamming code can be exemplified.

Fig. 5 is a block diagram of another data determination unit in the present embodiment. The data determination unit 27 includes a correction unit 26 in addition to the comparison unit 25. The comparison unit 25 determines whether or not the correlation between the data and the correction flag satisfies a rule. When the comparison unit 25 determines that the correlation between the correction flag and the data does not satisfy the rule, the correction unit 26 corrects the data based on the correction flag.

Referring to fig. 2, in the present embodiment, the receiving unit functions as a correction unit 26. The reception processors 34a, 34b, and 34c function as the correction unit 26. The reception processors 34a, 34b, and 34c function as the correction unit 26 of the data determination unit 27 by being driven in accordance with the machining program 7. The correction unit is not limited to this form. In addition to a processor that receives data, a processor or an integrated circuit that has a function of determining data may be configured.

Each receiving processor 34a, 34b, 34c modifies the data when the correlation of the data with the modification flag does not comply with the rule. When the correction unit 26 can completely correct the data, the machine control device 2 can perform control using the corrected data. For example, the operation determination control in the present embodiment may be implemented using the corrected data.

However, the data may not be completely corrected even if the correction is performed based on the correction flag. In the correction using the correction flag, an error of a certain magnitude can be corrected. For example, random errors that divergently produce fewer errors can be easily corrected. However, burst errors in which a plurality of errors occur in a short period of time may not be corrected even if corrected by the correction flag.

When the data is corrected, each of the reception processors 34a, 34b, and 34c determines whether or not the data is completely corrected. For example, the receiving processors 34a, 34b, 34c determine whether the correlation of the corrected data with the error flag complies with the rule. The 1 st reception processor 34a as the operation determination unit 23 receives the determination results from the 2 nd reception processor 34b and the 3 rd reception processor 34 c.

When the data that has not been completely corrected exists, the 1 st reception processor 34a may implement the operation determination control described above. The data that is not completely corrected is regarded as data whose correlation between the data and the correction flag does not meet the regulation, and the operation determination control is executed. In the present embodiment, when the correlation between the data and the flag for detecting an error does not comply with the rule, the control may be performed without using the data.

The operation determination control in the present embodiment is useful when the safety of an operator located around the apparatus is ensured or when an article arranged around the apparatus is not damaged. For example, when the table of the machine tool moves at a predetermined speed or more, the table may collide with the operator. The operation determination control of the present embodiment is suitable for controlling the motor of such a moving component.

In the present embodiment, a machine tool is exemplified as the apparatus, but the present invention is not limited to this form, and can be applied to any apparatus. For example, a robot that performs a predetermined operation such as an articulated robot, a traveling flatbed that travels on the ground to move a workpiece, a robot, or the like, and the like may be illustrated. In such a device, for example, an emergency stop may be performed. The mechanism of the present embodiment can be applied to a data transfer mechanism for implementing an emergency stop.

In fig. 2 and 3, the transmission processor and the reception processor are connected by a communication line, but the present invention is not limited to this embodiment. When data is transmitted wirelessly, an error may occur in the data due to the influence of noise or the like. The control of the present embodiment may be applied to such an apparatus that wirelessly transmits data.

Fig. 6 is a schematic diagram illustrating another data transfer mechanism in the present embodiment. In the above-described embodiment shown in fig. 2 and 3, the transmission processors 33a, 33b, and 33c as the transmission units and the reception processors 34a, 34b, and 34c as the reception units are disposed on different printed boards 41 and 42. In the data transfer mechanism shown in fig. 6, the transmission processors 33a, 33b, and 33c and the reception processors 34a, 34b, and 34c are disposed on a common printed circuit board 43. The transmission path of data from the transmission processors 33a, 33b, and 33c to the reception processors 34a, 34b, and 34c is a wiring formed on the surface of the printed substrate 43. In this case, the wiring may be broken or may be affected by noise. For example, data may be affected by noise due to the influence of capacitance disposed on the printed circuit board, floating capacitance existing in an electric circuit, or the like. In this case, the operation determination control of the present embodiment may be implemented.

According to an aspect of the present disclosure, a device for determining whether a driving state of a driver is abnormal can be provided.

In each of the above-described controls, the order of the steps may be appropriately changed within a range in which the functions and actions are not changed.

The above embodiments may be combined as appropriate. In the above-described drawings, the same or equivalent portions are denoted by the same reference numerals. The above embodiments are illustrative and not restrictive. The embodiments also include modifications of the embodiments shown in the claims.